Chapter 1.11 Research

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1.11 Research Plan 1) Activities The activities of this research are designed into three steps as follows: Step1 Construct CPG-Reflexes model for each module In this step, the biped robot control system will be separated into four primary modules that are: two modules of limbs (upper and lower), the head module, and the coordination module. The upper limbs modules consist of two sub-modules (right and left hand) that are identical. The lower limb also the similar to the upper limbs that the right and left leg module are identical. The arrangement of CPG units depends on the location and order of the joints of biped robot. The activities of this task can be separated into the following topics: A. CPG-Reflexes Modeling 1) Select…show more content…
C. CPG parameters tuning and varying 1) Choose/Improve/Develop the tuning method. 2) Choose/Improve/Develop the algorithms for parameters varying. 3) Tuning and varying the CPG parameters. D. Algorithms test – the following tools will separately test each module: 1) Numerical test in Matlab™ 2) Virtual simulation tests in V-Rep Step 2 Modules coordination The verified modules from the previous step will be combined in this step. The coordination models and the external perception models will be constructed by using the CPG-based control principle. The activities of this task can be divided into following topics: A. Construct the CPG coordination module B. Construct the malfunction joints compensation elements C. CPG tuning and testing The full CPG algorithms will be tested on the following tools: 1) Numerical test in Matlab™ 2) Virtual simulation tests in V-Rep 3) Field test with NAO robot Step 3 Field tests and benchmarking The field trials will experiment on the defined environments (normal environment – 16 cases and one flexible environment – if possible). Following topics are the case for algorithms’ performance
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